CN109853379B - Cable-stayed bridge cable detection robot based on visual detection - Google Patents

Abstract

The invention discloses a cable-stayed bridge cable detection robot based on visual detection, which comprises an outer frame, a pressing mechanism and a gear train transmission mechanism, wherein the outer frame comprises frame plates which are sequentially connected to form a hexagonal outer frame, the outer side surfaces of the frame plates which are arranged at intervals are provided with linear bearings, and the outer side surfaces of the frame plates are fixedly provided with electronic elements and battery packs; the pressing mechanisms are arranged on the frame plates which are arranged at intervals and are symmetrically arranged up and down, and simultaneously press the cables from three directions; the gear train transmission mechanism is arranged between the pressing mechanisms and is pressed on the surface of the cable through the pressing mechanisms, the gear train transmission mechanism comprises a shell assembly, a roller device and a driving motor, and the driving motor synchronously drives the roller device to realize synchronous cable climbing of the gear train transmission mechanism from three directions simultaneously; the detection robot further comprises a wireless adapter, and a camera is further arranged on the frame plate. The invention solves the problems of the prior art that the cable holding effect of the cable climbing robot is poor, the frame structure is asymmetric, the eccentricity is generated, the robot spiral climbing is realized, and the like.

Description

A cable inspection robot for cable-stayed bridges based on visual inspection

Technical field

The invention belongs to the technical field of detection robots, and specifically relates to a cable-stayed bridge cable detection robot based on visual detection.

Background technique

Cable bridges are widely used due to their large span, beautiful appearance, economical and practical characteristics. The increase in the size of cable-stayed bridges has brought about a series of problems in bridge detection, among which the detection of cables is very important. Cables are the main load-bearing components of cable-stayed bridges, and their reliability directly affects the safety of the bridge. In order to ensure the safe use of cables, the safety performance of the cables needs to be tested and maintained regularly.

At present, there are two main methods of cable maintenance at home and abroad. One is to perform cable maintenance on a hydraulic lifting platform used in small cable-stayed bridges, and the other is to use lifting points pre-installed on the top of the tower. Use steel wire to drag the hanging basket to carry workers along the cable for maintenance. These two cable maintenance methods used in actual engineering are mainly inspected manually. Not only is it inefficient, but it is also difficult to ensure personnel safety. Manual inspection is no longer practical. The use of industrial robots to replace manual inspection of cables has become an inevitable trend and has important value in practical engineering applications.

There are not many research reports on inspection robots dedicated to cable-stayed cables at home and abroad. Although there are studies, the truly practical technology is not yet available. Generally speaking, it is in its early stages. Sungkyunkwan University in South Korea has conducted a series of research on cable crawling robots for suspension bridges. A wheeled crawling robot has been developed. The robot has good stability when climbing cables. The wheeled robot is fast and efficient, and is more suitable for use on large suspension bridges. This robot has certain adaptability to the diameter of the cable, but its structure is complex and its weight is heavy. Due to its complex structure and heavy weight, this robot has not been widely used in bridge inspection. Shanghai Jiao Tong University has developed a pneumatic peristaltic cable maintenance robot. The pneumatic peristaltic type adopts the principle of bionics and uses peristalsis to climb or descend. When air is transported over long distances, there is pressure loss along the way, which limits the climbing speed of the robot. The robot carries the gas pipeline and crawls to high altitude. The weight of the pipeline makes the robot easy to eccentric, which limits the performance of the cable-climbing robot and is not suitable for cable-stayed bridge cable inspection.

Due to the body structure and control system of existing cable-climbing robots, it is difficult to cope with changes in rod diameter and changes in the inclination angle between the bridge deck and the cable. Cable-climbing robots mostly climb on one side of the cable and clamp it on one side, and the frame structure is asymmetrical. The centerline of the frame does not coincide with the axis of the cable, causing the cable-climbing robot to be eccentric and the robot to spiral. The existing cable-climbing robot has a complex structure and heavy weight, making it difficult to be widely used in engineering practice. The visual inspection system used is relatively simple and cannot fuse and analyze images collected by multiple visual cameras in real time.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a cable-stayed bridge cable detection robot based on visual detection, which can effectively solve the problem of poor cable holding effect and asymmetric frame structure of the cable detection robot in the existing technology. Problems such as eccentricity, robot spiral climbing, and inability to adaptively change rod diameter.

The object of the present invention is achieved as follows: a cable-stayed bridge cable inspection robot based on visual inspection, including an outer frame and a pressing mechanism and a gear train transmission mechanism located in the outer frame. The outer frame includes six frame plates. , the frame plates are connected in sequence to form a hexagonal outer frame, and the outer sides of the spaced frame plates are equipped with linear bearings arranged symmetrically up and down. Electronic components and battery packs are fixedly installed on the outer sides of the frame plates;

The pressing mechanism is installed on spaced frame plates and is symmetrically arranged up and down along the frame plate. One end of the pressing mechanism passes through the linear bearing outside the frame plate, and the other end resists the gear train transmission mechanism. The axis of the pressing mechanism is on the horizontal plane. The projection on the cable is Y-shaped and evenly distributed along the circumferential direction, allowing the compression mechanism to compress the cable from three directions at the same time;

The wheel train transmission mechanism is arranged between symmetrically arranged pressing mechanisms. The projection of the wheel train transmission mechanism on the horizontal plane is Δ-shaped, and three are evenly distributed along the circumferential direction. The wheel train transmission mechanism is pressed on the cable through the pressing mechanism. On the surface, the diameter of the inscribed circle formed by the projection of the gear train transmission mechanism and the pressing mechanism on the horizontal plane when surrounding the cable ranges from 150mm to 200mm. The gear train transmission mechanism includes a housing assembly and is arranged in the housing assembly. The roller device and the drive motor are fixedly connected to the housing assembly respectively. The roller device is driven by the drive motor. The three drive motors drive the roller device synchronously to realize the gear train transmission mechanism to climb the cable synchronously from three directions at the same time. ;

The cable detection robot also includes a wireless adapter. The wireless adapter is used to receive signals emitted by electronic components and connect to a computer, remotely control the detection robot through the computer, and perform real-time processing on the images transmitted back;

The cable detection robot is also equipped with a camera on the upper part of the frame plate, which transmits the captured image and video data back to the computer through wireless transmission.

Six frame plates are used to form a hexagonal outer frame. The hexagonal frame is symmetrical, which can effectively reduce the eccentricity effect caused by the misalignment of the center of mass of the frame system and the cable axis. Moreover, the outer surface of the frame plate is easy to inspect electronic components. It has the characteristics of easy installation, easy heat dissipation, convenient operation, and quick disassembly and assembly.

Further, the compression mechanism includes a guide rod, a spring and a nut for adjusting the spring preload force. One end of the guide rod extends out of the linear bearing and is screwed to the nut, and the other end extends into the gear train transmission mechanism to be fixed. The connected bearing seat collides with the gear train transmission mechanism. The spring is sleeved on the guide rod and placed between the inside of the frame plate and the bearing seat. It is guided by the guide rod and the spring preload is adjusted by the nut so that the robot can surround it. When the cable is used, the gear train transmission mechanism presses against the cable to achieve cable climbing. The compression mechanism performs elastic preloading along the guide rod through a spring, and the preloading force is adjusted within an appropriate range by adjusting the nut.

Further, the housing assembly of the gear train transmission mechanism includes an L-shaped guide rod support plate, an L-shaped motor mounting plate and a wing plate. The guide rod support plate is symmetrically arranged up and down, and the motor mounting plate and wing plates are arranged symmetrically. The guide rod support plates are arranged opposite each other, and two wing plates are arranged vertically. The guide rod support plate, the motor mounting plate and the wing plates are connected to each other to form a housing; the roller device includes a driving wheel, a driven wheel and a The seated bearing is symmetrically arranged on the rotating shaft of the driving wheel and the driven wheel. The seated bearing on the side close to the wing plate is fixedly connected to the wing plate. The seated bearing on the side close to the motor mounting plate is connected to the motor mounting plate. Fixed connection, the driving motor is fixed on the motor mounting plate and is located between two wing plates, and transmits power to the driving wheel through belt transmission. The gear train transmission mechanism is pressed against the surface of the cable by the elastic force of the spring in the compression mechanism, and a set of transmission mechanisms transmit power through a drive motor in the form of belt drive.

Further, the frame plate is an aluminum plate. Hollows are formed on the left and right sides of the frame plate, and a groove is provided in the middle. A lithium battery pack is fixedly installed in the groove of the frame plate equipped with a pressing mechanism to power the drive motor. The remaining frames The electronic components fixedly installed in the grooves of the board are motor controllers and wireless modules. The use of aluminum plates with hollows on both sides and grooves milled in the middle can reduce the overall weight of the robot. The metal surface of the aluminum plate can quickly conduct heat, and the heat generated when the components are working can be quickly conducted to the external environment, thereby achieving a heat dissipation and cooling effect.

Furthermore, the upper part of the frame plate is also provided with a camera mounting bracket for fastening the camera.

Furthermore, the motor controller is controlled by a computer to realize synchronous driving of three drive motors. Through computer control of three controllers, the effect of synchronous driving of three drive motors is achieved. The three-motor synchronous drive technology not only improves the robot's cable-climbing power, but also avoids the vibration problem caused by the existing technology's drive wheels being out of sync during operation.

Furthermore, the wheel surfaces of the driving wheel and the driven wheel are made of polyurethane material. It is convenient to obtain materials and reduce costs.

Due to the adoption of the above technical solutions, the present invention has the following beneficial effects:

1. Six frame plates are used to form a hexagonal outer frame. The hexagonal frame is symmetrical, which can effectively reduce the eccentricity effect caused by the misalignment of the center of mass of the frame system and the cable axis, and the outer surface of the frame plate is easy to affect the electronics. The components are installed, and the frame plate is made of aluminum plate, which can quickly conduct heat and quickly conduct the heat generated when the components are working to the external environment, thereby achieving a heat dissipation and cooling effect.

2. The pressing mechanism and the gear train transmission mechanism are evenly distributed along the circumferential direction on the projection of the horizontal plane, so that the pressing mechanism and the gear train transmission mechanism can compress the cable from three directions at the same time and climb the cable synchronously.

3. Adopt a pressing mechanism arranged symmetrically up and down, and design two springs arranged on the guide rod, which can balance the excessive effect of a single spring thrust on a single point, stress concentration and other problems, thereby reducing the friction between the driving wheel and the cable surface. The incremental value of positive pressure can enhance the obstacle surmounting ability of the cable detection robot.

4. Through computer control of three controllers, the effect of synchronous driving of three driving motors is achieved. The three motor synchronous driving technology not only improves the robot's cable climbing power, but also avoids the problems caused by the unsynchronized driving wheels of the existing technology during operation. The tremor problem reduces the phenomenon of robots getting stuck and slipping in high altitudes.

5. The three drive motors are driven synchronously. Since they are arranged in a 120° annular shape, all three driving wheels have power output. A multi-drive transmission structure is formed, and the three driven wheels are arranged in parallel to enhance the stability of the robot during movement and greatly improve the robot's cable climbing ability.

Description of drawings

Figure 1 is a front view of the present invention;

Figure 2 is a cross-sectional view of A-A in Figure 1;

Figure 3 is a front view of the gear train transmission mechanism;

Figure 4 is a B-B cross-sectional view of Figure 3;

Figure 5 is a top view of the gear train transmission mechanism;

Figure 6 is a schematic structural diagram of the present invention;

Figure 7 is a work flow chart of the detection robot.

Reference signs

In the attached figure, 1 is the frame plate, 2 is the linear bearing, 3 is the battery pack, 4 is the pressing mechanism, 5 is the gear train transmission mechanism, 6 is the cable, 7 is the drive motor, 8 is the camera, and 9 is the bearing seat. 10 is the motor controller, 11 is the wireless module, 12 is the camera mounting bracket,

41 is the guide rod, 42 is the spring, 43 is the nut,

51 is the guide rod support plate, 52 is the motor mounting plate, 53 is the wing plate, 54 is the driving wheel, 55 is the driven wheel, 56 is the seated bearing, 57 is the driving wheel shaft, and 58 is the driven wheel shaft.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Referring to Figures 1-6, a cable-stayed bridge cable inspection robot based on visual inspection includes an outer frame, a pressing mechanism 4 and a gear train transmission mechanism 5 located in the outer frame. The outer frame includes six frame plates. 1. The frame plates 1 are connected in sequence to form a hexagonal outer frame. The outer sides of the spaced frame plates 1 are equipped with linear bearings 2 arranged symmetrically up and down. Electronic components and electronic components are fixedly installed on the outer sides of the frame plates 1. Battery pack 3; In this embodiment, the frame plate 1 uses 6061 aluminum plate as the frame plate material. In order to reduce the overall weight, 6mm on the left and right sides of the frame plate 1 are hollowed out to reduce weight, forming hollows, and on the left and right sides. A 60° bevel is cut on both sides to form a frame plate 1, which is assembled into a hexagonal outer frame through bolts. A 4mm thick aluminum material is milled out in the middle to form a groove, and a pressing mechanism 4 is installed in the frame plate groove to be fixed. Install the lithium battery pack 3 to power the drive motor 7, and the motor controller 10 and the wireless module 11 are fixedly installed in the grooves of the remaining frame plates 1.

The pressing mechanism 4 is installed on the spaced frame plate 1 and is arranged symmetrically up and down along the frame plate 1. One end of it passes through the linear bearing 2 outside the frame plate 1, and the other end resists the gear train transmission mechanism 5. The pressing mechanism The projection of the axis 4 on the horizontal plane is Y-shaped, evenly distributed along the circumferential direction, so that the pressing mechanism 4 presses the cable 6 from three directions at the same time; in this embodiment, the pressing mechanism includes a guide rod 41 and a spring 42 and a nut 43 for adjusting the pretightening force of the spring 42. One end of the guide rod 41 extends out of the linear bearing 2 and is screwed to the nut 43, and the other end extends into the bearing seat 9 that is fixedly connected to the gear train transmission mechanism 5 and then is connected to the gear train. The transmission mechanism 5 resists, and the spring 42 is sleeved on the guide rod 41 and placed between the inside of the frame plate 1 and the bearing seat 9. It is guided by the guide rod 41, and the pre-tightening force of the spring 42 is adjusted through the nut 43 so that the robot can surround the robot. When the cable 6 is moved, the gear train transmission mechanism 5 is pressed against the cable 6 to realize cable climbing. The compression mechanism performs elastic preloading along the guide rod through a spring, and the preloading force is adjusted within an appropriate range by adjusting the nut. When the robot of the present invention moves on the cable 6, it relies on the pretension of the spring 42 and the positive pressure generated on the surface of the cable 6 to generate a certain friction between the robot and the surface of the cable 6, thereby overcoming the effect of gravity. The preload force of spring 42 cannot be too large or too small. Excessive preload force will additionally increase the starting torque of the motor and even cause the robot to get stuck. A pre-tightening force that is too small cannot meet the requirements of the robot's static cable holding. In order to make it adaptive to changes in rod diameter, the spring is optimized through overall force analysis. Considering the strength and stress concentration issues, two springs 42 are designed to be arranged on the guide rod 41 to balance the excessive effect of the thrust of a single spring 42 on a single point and stress concentration, resulting in unreasonable design problems. When the spring 42 generates the same elastic force to satisfy the robot's work, the smaller the stiffness coefficient of the spring preload, the stronger the robot's ability to overcome obstacles. Use MATLAB mathematical tools to optimize the spring parameters, correlate them with the motor torque and friction required in the static state, and select the optimal solution for the spring parameters to reduce the incremental value of the positive pressure on the surface of the drive wheel and cable. Enhance the obstacle surmounting ability of the cable detection robot.

The wheel train transmission mechanism 5 is arranged between the symmetrically arranged pressing mechanisms 4. The projection of the wheel train transmission mechanism 5 on the horizontal plane is Δ-shaped, and three of them are evenly distributed along the circumferential direction. The wheel train transmission mechanism 5 is connected by the pressing mechanism 4. 5 is pressed on the surface of the cable 6. The projection of the gear train transmission mechanism 5 and the compression mechanism 4 on the horizontal plane when surrounding the cable changes in the diameter range of 150 mm to 200 mm. The gear train transmission mechanism 5 includes a shell. The body assembly and the roller device and drive motor 7 arranged in the shell assembly. The roller device and the drive motor 7 are respectively fixed to the shell assembly. The roller device is driven by the drive motor 7. The three drive motors 7 drive the roller device synchronously. Realize the gear train transmission mechanism 5 to simultaneously climb cables from three directions;

In this embodiment, the housing assembly of the gear train transmission mechanism 5 includes an L-shaped guide rod support plate 51, an L-shaped motor mounting plate 52 and a wing plate 53. The guide rod support plate 51 is arranged symmetrically up and down, and the motor mounting plate 52 The guide rod support plate 51, the motor mounting plate 52 and the wing plates 53 are connected to each other to form a shell. body assembly; the roller device includes a driving wheel 54, a driven wheel 55 and a seated bearing 56. The seated bearing 56 is symmetrically located on the rotating shafts 57 and 58 of the driving wheel and the driven wheel. The belt on the side close to the wing plate 53 The seat bearing 56 is fixedly connected to the wing plate 53. The seated bearing 56 on the side close to the motor mounting plate 52 is fixedly connected to the motor mounting plate 52. The drive motor 7 is fixed to the motor mounting plate 52 and is located between the two wing plates 53. During this time, power is transmitted to the driving wheel 54 through belt transmission. The gear train transmission mechanism 5 is pressed against the surface of the cable 6 by the elastic force of the spring 42 in the compression mechanism. A set of transmission mechanisms transmits power through a drive motor 7 in a belt drive manner.

The cable detection robot of the present invention also includes a wireless adapter (not shown in the figure). The wireless adapter is used to receive the signal transmitted by the wireless module and connect with the computer, remotely control the detection robot through the computer, and perform real-time processing on the transmitted image. , make corresponding feedback in a timely manner. The frame plate 1 of the cable inspection robot is also provided with a camera 8. The camera 8 is installed on the camera mounting bracket 12 on the upper part of the frame plate 1 and transmits the captured image and video data back to the computer through wireless transmission.

The invention uses computer language to write programs and controls three motor controllers through the computer to achieve the effect of synchronous driving of three driving motors; the synchronous driving of the three motors not only improves the robot's cable climbing power, but also avoids the driving of the prior art due to the synchronous driving. To avoid the vibration problem caused by the wheels being out of sync during operation, the three driving motors are driven synchronously. Since they are arranged in a 120° annular shape, all three driving wheels have power output. A multi-drive transmission structure is formed, and the three driven wheels are arranged in parallel to enhance the stability of the robot during movement and greatly improve the robot's cable climbing ability. The robot of the present invention can be used for cable climbing detection from 0 to 90°. Excellent climbing performance.

The invention uses three driving motors for driving. In order to ensure power, a large-capacity lithium battery pack is used to power the driving motors. The lithium battery has excellent energy storage performance and is small in size and weight, which can reduce the weight of the robot itself. The motor controller, lithium battery pack, wireless receiving and transmitting module and other components are installed in the groove of the frame plate. The metal surface of the aluminum plate can quickly conduct heat, and the heat generated when the components are working is quickly conducted to the external environment to dissipate heat and cool down. Effect.

The invention can remotely control the detection robot on the ground through the human-machine control interface in the computer, control the rotation and speed of the driving motor, and can control the working state of the cable detection robot at a long distance, and the maximum speed of the cable climbing is 9 m/min and above. By processing the feedback electrical signal, it is converted into the displacement of the detected robot, and the position and distance information can be displayed on the human-machine control interface. When a defect is detected, it can be accurately located on the cable. The camera set on the outer frame can transmit images and videos back to the ground in real time. People on the ground can observe the degree of damage to the surface of the cable and take appropriate measures according to the actual situation to ensure the safety of the cable.

The cable detection robot of the present invention carries a camera or camera to operate on a high-altitude cable to detect the surface of the cable. Through the images transmitted in the computer, the halcon operator of the vision software is used to splice and fuse the images collected by each camera or camera to obtain a complete picture of the cable surface. Through deep learning, feature matching is performed on the defects in the image to determine the type of defect. This achieves the purpose of using robots to detect cables instead of humans.

It should be noted here that the working state described in the present invention is carried out according to the worst working conditions. The robot moves on the cable perpendicular to the bridge deck. The description of this technical solution is to show that the robot can adapt to various cables at different angles. Detection rather than qualification of a single location structure. The invention can adapt to changes in rod diameter of 150mm to 200mm when cables move at different inclinations, without manual intervention in the process.

The cable detection robot of the present invention has good climbing and obstacle-crossing performance, can climb cables with various inclination angles, has a wide adaptability to the cable diameter, has little damage to the outer coating of the cable PE sheath, and will not cause synchronous driving. The chattering phenomenon reduces the phenomenon of robots getting stuck and slipping in high altitudes. By using a computer to control the rotation of the drive motor, the activities of the cable detection robot can be controlled over a long distance. The camera can transmit images and videos back to the ground in real time. People on the ground can observe the degree of damage to the surface topography of the cable and detect it based on the Corresponding measures should be taken according to the actual situation to ensure the safety of the cable, which has high practical value and has very important engineering application and promotion value.

Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be implemented in the form and Various changes can be made to the details without departing from the scope of the invention as defined by the claims.

Claims (5)

1. The utility model provides a cable-stayed bridge cable detects robot based on visual inspection, includes outer frame and locates hold-down mechanism and train drive mechanism in the outer frame, its characterized in that: the outer frame comprises six frame plates, the frame plates are sequentially connected to form a hexagonal outer frame, linear bearings which are arranged symmetrically up and down are arranged on the outer side faces of the frame plates at intervals, and electronic elements and battery packs are fixedly arranged on the outer side faces of the frame plates respectively;

the pressing mechanisms are arranged on the frame plates at intervals and are symmetrically arranged up and down along the frame plates, one end of each pressing mechanism penetrates through a linear bearing outside the frame plates, the other end of each pressing mechanism abuts against the gear train transmission mechanism, and projections of axes of the pressing mechanisms on a horizontal plane are Y-shaped and uniformly distributed along the circumferential direction, so that the pressing mechanisms press the cables from three directions simultaneously;

the gear train transmission mechanism is arranged between symmetrically arranged compressing mechanisms, the projection of the gear train transmission mechanism on a horizontal plane is delta-shaped, three gear train transmission mechanisms are uniformly distributed along the circumferential direction, the gear train transmission mechanism is compressed on the surface of a cable through the compressing mechanisms, the variation range of the diameter of an inscribed circle formed when the projection of the gear train transmission mechanism and the compressing mechanisms on the horizontal plane encircle the cable is 150-200 mm, the gear train transmission mechanism comprises a shell component, a roller device and a driving motor, the roller device and the driving motor are fixedly connected with the shell component respectively, the roller device is driven by the driving motor, and the three driving motors synchronously drive the roller device to realize synchronous cable climbing of the gear train transmission mechanism from three directions simultaneously;

the cable detection robot further comprises a wireless adapter, wherein the wireless adapter is used for receiving signals emitted by the electronic element and is connected with the computer, the robot is detected by the computer in a remote control mode, and the transmitted images are processed in real time;

the upper part of the frame plate of the cable detection robot is also provided with a camera, and shot image video data is transmitted back to the computer in a wireless transmission mode;

the compressing mechanism comprises a guide rod, a spring and a nut for adjusting the pretightening force of the spring, one end of the guide rod extends out of the linear bearing and is in threaded connection with the nut, the other end of the guide rod extends into a bearing seat fixedly connected with the gear train transmission mechanism and is in interference with the gear train transmission mechanism, the spring is sleeved on the guide rod and is arranged between the inner side of the frame plate and the bearing seat, the guide rod guides the frame plate, and the pretightening force of the spring is adjusted through the nut so that the gear train transmission mechanism supports against the cable and realizes cable climbing when the robot embraces the cable;

the shell component of the gear train transmission mechanism comprises an L-shaped guide rod supporting plate, an L-shaped motor mounting plate and wing plates, wherein the guide rod supporting plate is arranged symmetrically up and down, the motor mounting plate and the wing plates are arranged between the symmetrically arranged guide rod supporting plates and are arranged oppositely, the two wing plates are arranged vertically, and the guide rod supporting plate, the motor mounting plate and the wing plates are connected with each other to form a shell; the roller device comprises a driving wheel, a driven wheel and a belt seat bearing, wherein the belt seat bearings are symmetrically arranged on a rotating shaft of the driving wheel and the driven wheel, the belt seat bearing on one side close to the wing plate is fixedly connected with the wing plate, the belt seat bearing on one side close to the motor mounting plate is fixedly connected with the motor mounting plate, and the driving motor is fixed on the motor mounting plate and arranged between the two wing plates and transmits power to the driving wheel through belt transmission.

2. The visual inspection-based cable-stayed bridge cable inspection robot according to claim 1, wherein: the frame plate is aluminum plate, the left and right sides of frame plate form the fretwork, and the recess has been seted up to the middle part, installs hold-down mechanism's frame plate recess internal fixation installation lithium cell group, for driving motor power supply, the electronic component of the fixed mounting in the recess of other frame plates is motor controller and wireless module.

3. The visual inspection-based cable-stayed bridge cable inspection robot of claim 2, wherein: the upper portion of frame board still is equipped with the camera installing support for fastening the camera.

4. The visual inspection-based cable-stayed bridge cable inspection robot of claim 2, wherein: the motor controller is controlled by a computer to realize synchronous driving of three driving motors.

5. The visual inspection-based cable-stayed bridge cable inspection robot according to claim 1, wherein: the wheel surfaces of the driving wheel and the driven wheel are made of polyurethane materials.